In the future, robots will use various robot H/W platforms and their services will be composed of S/W components. Accordingly, it needs a robot S/W platform that provides standardized components and interfaces for fast robot development. OPRoS (Open Software Platform for Robotics Services) is a robot S/W platform that provides standardized components and interfaces. It uses the UPnP (Universal Plug and Play) as communication middleware. In the UPnP protocol, a UPnP control point finds and connects to a UPnP device using the name of the UPnP device. Thus, this mechanism can cause a problem in the multi-SBC or ubiquitous computing environments. Because most robots or ubiquitous computing environments may have components of similar name such as arm, actuator and sensor, a UPnP control point can not distinguish a right one from other components of the same name in this case. In this paper, we define the discovery configuration XML file and propose a component connection mechanism using IP based permission assignment to solve the problem.